Bevermeier, M., Peschke, S., &; Haeb-Umbach, R. (2009). Robust vehicle localization based on multi-level sensor fusion and online parameter estimation. In 6th Workshop on Positioning Navigation and Communication (WPNC 2009) (pp. 235–242).https://doi.org/10.1109/WPNC.2009.4907833 

Bevermeier, M., Peschke, S., &; Haeb-Umbach, R. (2009). Joint Parameter Estimation and Tracking in a Multi-Stage Kalman Filter for Vehicle Positioning. In IEEE 69th Vehicular Technology Conference (VTC 2009 Spring) (pp. 1–5).https://doi.org/10.1109/VETECS.2009.5073634